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processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.

Browse Source 
renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
This commit is contained in:
ejcoumans
2006-10-18 03:28:42 +00:00
parent 1fe414d98a
commit 3a6942fb91
32 changed files with 406 additions and 185 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
Demos/BasicDemo/BasicDemo.cpp
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@@ -38,7 +38,7 @@ int main(int argc,char** argv)
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(50.f);
ccdDemo.setCameraDistance(10.f);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
@@ -60,8 +60,11 @@ void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMilliseconds();
m_clock.reset();
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
m_dynamicsWorld->stepSimulation(ms / 1000.f);
renderme();
@@ -95,13 +98,6 @@ void BasicDemo::displayCallback(void) {
///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look
void BasicDemo::clientResetScene()
{
}
void BasicDemo::initPhysics()
{
@@ -164,7 +160,7 @@ void BasicDemo::initPhysics()
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 10;
int colsize = 2;
int row = (i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;

1
Demos/BasicDemo/BasicDemo.h
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@@ -52,7 +52,6 @@ class BasicDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

4
Demos/BspDemo/BspDemo.h
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@@ -30,9 +30,7 @@ class BspDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};

84
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#ifdef COMPARE_WITH_QUICKSTEP 1
#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
#endif //COMPARE_WITH_QUICKSTEP
@@ -114,6 +114,7 @@ GLDebugDrawer debugDrawer;
int main(int argc,char** argv)
{
CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
ccdDemo->initPhysics();
@@ -141,8 +142,32 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMilliseconds() * 0.001f;
m_clock.reset();
printf("dt = %f: ",dt);
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
@@ -183,59 +208,6 @@ void CcdPhysicsDemo::displayCallback(void) {
///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look
void CcdPhysicsDemo::clientResetScene()
{
/*
int i;
int numObjects = m_physicsEnvironmentPtr->GetNumControllers();
for (i=0;i<numObjects;i++)
{
//skip the first object (static ground)
if (i>0)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
if ((getDebugMode() & btIDebugDraw::DBG_NoHelpText))
{
if (ctrl->getRigidBody()->getCollisionShape()->getShapeType() != SPHERE_SHAPE_PROXYTYPE)
{
ctrl->getRigidBody()->SetCollisionShape(shapePtr[2]);
} else
{
ctrl->getRigidBody()->SetCollisionShape(shapePtr[1]);
}
btBroadphaseProxy* bpproxy = ctrl->getRigidBody()->m_broadphaseHandle;
m_physicsEnvironmentPtr->getBroadphase()->cleanProxyFromPairs(bpproxy);
}
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
ctrl->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,false);
ctrl->SetAngularVelocity(0,0,0,false);
}
}
*/
}
///User-defined friction model, the most simple friction model available: no friction
@@ -368,7 +340,7 @@ void CcdPhysicsDemo::initPhysics()
body->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
//Experimental: better estimation of CCD Time of Impact:
body->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
body->m_ccdSweptSphereRadius = 0.2*CUBE_HALF_EXTENTS;
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver

1
Demos/CcdPhysicsDemo/CcdPhysicsDemo.h
View File

@@ -28,7 +28,6 @@ class CcdPhysicsDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

3
Demos/ColladaDemo/ColladaDemo.h
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@@ -29,9 +29,6 @@ class ColladaDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
virtual void keyboardCallback(unsigned char key, int x, int y);

3
Demos/CollisionDemo/CollisionDemo.h
View File

@@ -28,9 +28,6 @@ class CollisionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //COLLISION_DEMO_H

1
Demos/ConcaveDemo/ConcaveDemo.h
View File

@@ -29,7 +29,6 @@ class ConcaveDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

17
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@@ -192,23 +192,6 @@ void ConcaveDemo::clientMoveAndDisplay()
}
void ConcaveDemo::clientResetScene()
{
/*int numObj = m_physicsEnvironmentPtr->GetNumControllers();
//skip ground
for (int i=1;i<numObj;i++)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
ctrl->setPosition(2*i,1,1);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,0);
ctrl->SetAngularVelocity(0,0,0,0);
}
*/
}

4
Demos/ConstraintDemo/ConstraintDemo.h
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@@ -28,9 +28,7 @@ class ConstraintDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //CONSTRAINT_DEMO_H

4
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
View File

@@ -28,9 +28,7 @@ class btContinuousConvexCollisionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H

5
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h
View File

@@ -28,10 +28,7 @@ class ConvexDecompositionDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
//not yet
}
};

4
Demos/GjkConvexCastDemo/LinearConvexCastDemo.h
View File

@@ -28,9 +28,7 @@ class LinearConvexCastDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //LINEAR_CONVEX_CAST_DEMO_H

43
Demos/OpenGL/DemoApplication.cpp
View File

@@ -21,8 +21,12 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BMF_Api.h"
extern bool gDisableDeactivation;
@@ -646,7 +650,9 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
body->m_userObjectPointer = myMotionState;
m_dynamicsWorld->addRigidBody(body);
@@ -656,7 +662,6 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
void DemoApplication::renderme()
{
updateCamera();
@@ -670,7 +675,15 @@ void DemoApplication::renderme()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
colObj->m_worldTransform.getOpenGLMatrix(m);
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->m_worldTransform.getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
@@ -798,3 +811,27 @@ void DemoApplication::renderme()
}
}
void DemoApplication::clientResetScene()
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
}
}

5
Demos/OpenGL/DemoApplication.h
View File

@@ -38,6 +38,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btQuickProf.h"
class btCollisionShape;
class btDynamicsWorld;
@@ -50,6 +51,8 @@ class DemoApplication
protected:
hidden::Clock m_clock;
///this is the most important class
btDynamicsWorld* m_dynamicsWorld;
@@ -134,7 +137,7 @@ public:
virtual void clientMoveAndDisplay() = 0;
virtual void clientResetScene() =0 ;
virtual void clientResetScene();
///Demo functions
void shootBox(const btVector3& destination);

4
Demos/Raytracer/Raytracer.h
View File

@@ -28,9 +28,7 @@ class Raytracer : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //RAYTRACER_H

4
Demos/SimplexDemo/SimplexDemo.h
View File

@@ -28,9 +28,7 @@ class SimplexDemo : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene()
{
}
};
#endif //SIMPLEX_DEMO_H

16
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
View File

@@ -154,23 +154,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
}
void UserCollisionAlgorithm::clientResetScene()
{
/*
int numObj = m_physicsEnvironmentPtr->GetNumControllers();
//skip ground
for (int i=1;i<numObj;i++)
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
ctrl->setPosition(1,2*i,1);
ctrl->setOrientation(0,0,0,1);
ctrl->SetLinearVelocity(0,0,0,0);
ctrl->SetAngularVelocity(0,0,0,0);
}
*/
}

2
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.h
View File

@@ -28,7 +28,7 @@ class UserCollisionAlgorithm : public DemoApplication
virtual void displayCallback();
virtual void clientResetScene();
};

3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -21,8 +21,9 @@ btCollisionObject::btCollisionObject()
m_collisionFlags(0),
m_activationState1(1),
m_deactivationTime(0.f),
m_userObjectPointer(0),
m_hitFraction(1.f),
m_ccdSweptShereRadius(0.f),
m_ccdSweptSphereRadius(0.f),
m_ccdSquareMotionTreshold(0.f)
{

5
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -27,6 +27,9 @@ subject to the following restrictions:
struct btBroadphaseProxy;
class btCollisionShape;
#include "LinearMath/btMotionState.h"
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -68,7 +71,7 @@ struct btCollisionObject
float m_hitFraction;
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
float m_ccdSweptShereRadius;
float m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
float m_ccdSquareMotionTreshold;

6
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -271,12 +271,12 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
rayAabbMin.setMin(convexToLocal.getOrigin());
btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
rayAabbMin -= btVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
rayAabbMax += btVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
rayAabbMin -= btVector3(convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius);
rayAabbMax += btVector3(convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius,convexbody->m_ccdSweptSphereRadius);
float curHitFraction = 1.f; //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
convexbody->m_ccdSweptShereRadius,curHitFraction);
convexbody->m_ccdSweptSphereRadius,curHitFraction);
raycastCallback.m_hitFraction = convexbody->m_hitFraction;

4
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -214,7 +214,7 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->m_collisionShape);
btSphereShape sphere1(col1->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere1(col1->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
@@ -247,7 +247,7 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->m_collisionShape);
btSphereShape sphere0(col0->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere0(col0->m_ccdSweptSphereRadius); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);

239
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include <LinearMath/btTransformUtil.h>
//rigidbody & constraints
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -29,6 +30,20 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
//for debug rendering
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "LinearMath/btIDebugDraw.h"
//vehicle
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
@@ -46,6 +61,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(1.f/60.f),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -59,6 +75,7 @@ btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOver
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(1.f/60.f),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
@@ -104,13 +121,37 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255.f,255.f,255.f);
switch(colObj->GetActivationState())
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f);
case ISLAND_SLEEPING:
color = btVector3(0.f,255.f,0.f);
case WANTS_DEACTIVATION:
color = btVector3(0.f,255.f,255.f);
case DISABLE_DEACTIVATION:
color = btVector3(255.f,0.f,0.f);
case DISABLE_SIMULATION:
color = btVector3(255.f,255.f,0.f);
default:
{
color = btVector3(255.f,0.f,0.f);
}
};
debugDrawObject(colObj->m_worldTransform,colObj->m_collisionShape,color);
}
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldOrientation(body->getCenterOfMassTransform().getRotation());
body->getMotionState()->setWorldPosition(body->getCenterOfMassTransform().getOrigin());
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->m_interpolationWorldTransform,body->getLinearVelocity(),body->getAngularVelocity(),m_localTime,interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
}
@@ -118,29 +159,51 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
void btDiscreteDynamicsWorld::stepSimulation(float timeStep, int numSubsteps)
int btDiscreteDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
{
int numSimulationSubSteps = 0;
if (maxSubSteps)
{
//fixed timestep with interpolation
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
numSimulationSubSteps = int( m_localTime / fixedTimeStep);
m_localTime -= numSimulationSubSteps * fixedTimeStep;
}
} else
{
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
numSimulationSubSteps = 1;
maxSubSteps = 1;
}
//process some debugging flags
if (getDebugDrawer())
{
gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
}
if (!btFuzzyZero(timeStep) && numSubsteps)
if (!btFuzzyZero(timeStep) && numSimulationSubSteps)
{
saveKinematicState(timeStep);
saveKinematicState(fixedTimeStep);
int i;
float subTimeStep = timeStep / float(numSubsteps);
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
for (i=0;i<numSubsteps;i++)
for (int i=0;i<clampedSimulationSteps;i++)
{
internalSingleStepSimulation(subTimeStep);
internalSingleStepSimulation(fixedTimeStep);
}
synchronizeMotionStates();
}
synchronizeMotionStates();
return numSimulationSubSteps;
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
@@ -206,12 +269,8 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic?
btBroadphaseProxy::DefaultFilter :
btBroadphaseProxy::StaticFilter;
short collisionFilterMask = isDynamic?
btBroadphaseProxy::AllFilter :
btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
short collisionFilterGroup = isDynamic? btBroadphaseProxy::DefaultFilter : btBroadphaseProxy::StaticFilter;
short collisionFilterMask = isDynamic? btBroadphaseProxy::AllFilter : btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
@@ -537,3 +596,151 @@ void btDiscreteDynamicsWorld::startProfiling(float timeStep)
}
class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
{
btIDebugDraw* m_debugDrawer;
btVector3 m_color;
btTransform m_worldTrans;
public:
DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color)
: m_debugDrawer(debugDrawer),
m_worldTrans(worldTrans),
m_color(color)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
processTriangle(triangle,partId,triangleIndex);
}
virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
btVector3 wv0,wv1,wv2;
wv0 = m_worldTrans*triangle[0];
wv1 = m_worldTrans*triangle[1];
wv2 = m_worldTrans*triangle[2];
m_debugDrawer->drawLine(wv0,wv1,m_color);
m_debugDrawer->drawLine(wv1,wv2,m_color);
m_debugDrawer->drawLine(wv2,wv0,m_color);
}
};
void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
debugDrawObject(worldTransform*childTrans,colShape,color);
}
} else
{
switch (shape->getShapeType())
{
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(radius,0,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,radius,0),color);
getDebugDrawer()->drawLine(start,start+worldTransform.getBasis() * btVector3(0,0,radius),color);
//drawSphere
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
btVector3 start = worldTransform.getOrigin();
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(radius,0,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(-radius,0,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,radius,-0.5*height),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,-radius,-0.5*height),color);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtents()[upAxis];
btVector3 start = worldTransform.getOrigin();
btVector3 offsetHeight(0,0,0);
offsetHeight[upAxis] = halfHeight;
btVector3 offsetRadius(0,0,0);
offsetRadius[(upAxis+1)%3] = radius;
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
break;
}
default:
{
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//todo pass camera, for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
/// for polyhedral shapes
if (shape->isPolyhedral())
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
int i;
for (i=0;i<polyshape->getNumEdges();i++)
{
btPoint3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
}
}
}
}
}
}

13
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -45,6 +45,10 @@ protected:
btVector3 m_gravity;
//for variable timesteps
float m_localTime;
//for variable timesteps
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
@@ -74,6 +78,7 @@ protected:
void saveKinematicState(float timeStep);
public:
@@ -84,8 +89,9 @@ public:
btDiscreteDynamicsWorld();
virtual ~btDiscreteDynamicsWorld();
virtual void stepSimulation( float timeStep, int numSubsteps=1);
///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual void updateAabbs();
@@ -128,6 +134,9 @@ public:
virtual void removeRigidBody(btRigidBody* body);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

5
src/BulletDynamics/Dynamics/btDynamicsWorld.h
View File

@@ -38,8 +38,9 @@ class btDynamicsWorld : public btCollisionWorld
}
///stepSimulation proceeds the simulation over timeStep units
virtual void stepSimulation( float timeStep,int numSubsteps=1) = 0;
///if maxSubSteps > 0, it will interpolate time steps
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f)=0;
virtual void updateAabbs() = 0;
virtual void addConstraint(btTypedConstraint* constraint) {};

13
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -43,11 +43,9 @@ btRigidBody::btRigidBody(float mass, btMotionState* motionState, btCollisionShap
m_frictionSolverType(0)
{
btQuaternion worldOrn;
btVector3 worldPos;
motionState->getWorldOrientation(worldOrn);
motionState->getWorldPosition(worldPos);
m_worldTransform = btTransform(worldOrn,worldPos);
motionState->getWorldTransform(m_worldTransform);
m_interpolationWorldTransform = m_worldTransform;
//moved to btCollisionObject
m_friction = friction;
@@ -82,6 +80,7 @@ btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisi
{
m_worldTransform = worldTransform;
m_interpolationWorldTransform = m_worldTransform;
//moved to btCollisionObject
m_friction = friction;
@@ -118,9 +117,6 @@ void btRigidBody::saveKinematicState(btScalar timeStep)
//printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ());
}
m_interpolationWorldTransform = m_worldTransform;
m_kinematicTimeStep = timeStep;
}
@@ -260,6 +256,7 @@ btQuaternion btRigidBody::getOrientation() const
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
m_interpolationWorldTransform = m_worldTransform;
m_worldTransform = xform;
updateInertiaTensor();
}

25
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -47,7 +47,7 @@ btSimpleDynamicsWorld::~btSimpleDynamicsWorld()
delete m_constraintSolver;
}
void btSimpleDynamicsWorld::stepSimulation(float timeStep,int numSubsteps)
int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, float fixedTimeStep)
{
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -72,6 +72,10 @@ void btSimpleDynamicsWorld::stepSimulation(float timeStep,int numSubsteps)
updateAabbs();
synchronizeMotionStates();
return 1;
}
@@ -161,3 +165,22 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(float timeStep)
}
}
}
void btSimpleDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->getMotionState()->setWorldTransform(body->m_worldTransform);
}
}
}
}

6
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -54,7 +54,8 @@ public:
virtual ~btSimpleDynamicsWorld();
virtual void stepSimulation( float timeStep,int numSubsteps=1);
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
virtual int stepSimulation( float timeStep,int maxSubSteps=1, float fixedTimeStep=1.f/60.f);
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
@@ -73,6 +74,9 @@ public:
virtual void removeRigidBody(btRigidBody* body);
virtual void updateAabbs();
void synchronizeMotionStates();
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H

32
src/LinearMath/btDefaultMotionState.h Normal file
View File

@@ -0,0 +1,32 @@
#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H
///btDefaultMotionState provides a common implementation to synchronize world transforms with offsets
struct btDefaultMotionState : public btMotionState
{
btTransform m_graphicsWorldTrans;
btTransform m_centerOfMassOffset;
btTransform m_startWorldTrans;
btDefaultMotionState(const btTransform& startTrans,const btTransform& centerOfMassOffset = btTransform::getIdentity())
: m_graphicsWorldTrans(startTrans),
m_centerOfMassOffset(centerOfMassOffset),
m_startWorldTrans(startTrans)
{
}
///synchronizes world transform from user to physics
virtual void getWorldTransform(btTransform& centerOfMassWorldTrans )
{
centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ;
}
///synchronizes world transform from physics to user
virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans)
{
m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ;
}
};
#endif //DEFAULT_MOTION_STATE_H

6
src/LinearMath/btIDebugDraw.h
View File

@@ -38,13 +38,13 @@ class btIDebugDraw
enum DebugDrawModes
{
DBG_NoDebug=0,
DBG_DrawAabb=1,
DBG_DrawText=2,
DBG_DrawWireframe = 1,
DBG_DrawAabb=2,
DBG_DrawFeaturesText=4,
DBG_DrawContactPoints=8,
DBG_NoDeactivation=16,
DBG_NoHelpText = 32,
DBG_DrawWireframe = 64,
DBG_DrawText=64,
DBG_ProfileTimings = 128,
DBG_EnableSatComparison = 256,
DBG_DisableBulletLCP = 512,

13
src/LinearMath/btMotionState.h
View File

@@ -16,9 +16,7 @@ subject to the following restrictions:
#ifndef BT_MOTIONSTATE_H
#define BT_MOTIONSTATE_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
///btMotionState allows the dynamics world to synchronize the updated world transforms with graphics
///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation)
@@ -31,14 +29,9 @@ class btMotionState
}
virtual void getWorldPosition(btVector3& worldPos )=0;
virtual void getWorldScaling(btVector3& scaling)=0;
virtual void getWorldOrientation(btQuaternion& orn)=0;
virtual void setWorldPosition(const btVector3& worldPos)=0;
virtual void setWorldOrientation(const btQuaternion& orn)=0;
virtual void getWorldTransform(btTransform& worldTrans )=0;
virtual void calculateWorldTransformations()=0;
virtual void setWorldTransform(const btTransform& worldTrans)=0;
};